differential_equation.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#ifndef ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP
#define ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP


#include <acado/function/function_fwd.hpp>
#include <acado/symbolic_expression/lyapunov.hpp>


BEGIN_NAMESPACE_ACADO


class DifferentialEquation : public Function{

        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:


                DifferentialEquation( );

                DifferentialEquation( const double &tStart, const double &tEnd );

                DifferentialEquation( const double &tStart, const Parameter &tEnd );

                DifferentialEquation( const Parameter &tStart, const double &tEnd  );

                DifferentialEquation( const Parameter &tStart, const Parameter &tEnd  );


                DifferentialEquation( const DifferentialEquation& arg );

                virtual ~DifferentialEquation( );

                DifferentialEquation& operator=( const DifferentialEquation& arg );


                virtual DifferentialEquation* clone() const;


                DifferentialEquation& operator<<( const Expression& arg );

                DifferentialEquation& operator<<( const int& arg );

                DifferentialEquation& operator==( const Expression& arg );

                DifferentialEquation& operator==( const double &arg );

                DifferentialEquation& operator==( const DVector& arg );

                DifferentialEquation& operator==( const DMatrix& arg );


                BooleanType isDAE( ) const;

                BooleanType isODE( ) const;

                inline BooleanType isImplicit( ) const;


                virtual BooleanType makeImplicit();



                inline int getNumDynamicEquations() const;


                inline int getNumAlgebraicEquations() const;


                virtual BooleanType isDiscretized( ) const;


                inline double getStartTime() const;


                inline double getEndTime() const;


                inline int getStartTimeIdx() const;


                inline int getEndTimeIdx() const;



                virtual double getStepLength() const;


                inline int getStateEnumerationIndex( int index_ );


                inline DVector getDifferentialStateComponents() const;



                DifferentialEquation& addDifferential( const Expression& arg );

                DifferentialEquation& addDifferential( const double &arg );

                DifferentialEquation& addAlgebraic( const Expression& arg );

                DifferentialEquation& addAlgebraic( const double &arg );

                DifferentialEquation& addDifferential( const DVector& arg );

                DifferentialEquation& addAlgebraic( const DVector& arg );

                DifferentialEquation& addDifferential( const DMatrix& arg );

                DifferentialEquation& addAlgebraic( const DMatrix& arg );

                DifferentialEquation& operator==(const Lyapunov& arg );

                Lyapunov getLyapunovObject( ) const;

                BooleanType hasLyapunovEquation( ) const;


                Expression getODEexpansion( const int &order ) const;
                
                
                inline int* getComponents() const;
                
                
                
        // PROTECTED MEMBER FUNCTIONS:
        // ---------------------------
        protected:


                void setup();


        void copy( const DifferentialEquation &arg );





        // PROTECTED MEMBERS:
        // ------------------

        protected:

                DifferentialEquationType           det;
                BooleanType                is_implicit;
                BooleanType             is_discretized;

                int  counter  ;
                int *component;

                Parameter  *T1, *T2;
                double      t1,  t2;

                double stepLength;  // for discretized dynamic equations only
  Lyapunov lyap;
};


CLOSE_NAMESPACE_ACADO



#include <acado/function/differential_equation.ipp>


#endif  // ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP

// end of file.